/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Heriot-Watt University, UK.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
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*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Heriot-Watt University nor the names of
*     its contributors may be used to endorse or promote products
*     derived from this software without specific prior written
*     permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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*
*  Author: Joel Cartwright
*
*********************************************************************/

#include <osl_core/TimerMillis.h>

namespace osl_core
{

TimerMillis::TimerMillis(bool useWallTime)
{
	active_ = false;
	useWallTime_ = useWallTime;
};

void TimerMillis::setUseWallTime(bool useWallTime)
{
	useWallTime_ = useWallTime;
	endTimer();
}

bool TimerMillis::getUseWallTime()
{
	return useWallTime_;
}

void TimerMillis::setTimer(timeout_t timeout)
{
	if (timeout == 0) {
		active_ = false;
	}
	else {
		if (useWallTime_) {
			expiry_time_millis_ = rosTimeToMillis(ros::WallTime::now()) + timeout;
		}
		else {
			expiry_time_millis_ = rosTimeToMillis(ros::Time::now()) + timeout;
		}
		active_ = true;
	}
};

void TimerMillis::incTimer(timeout_t timeout)
{
	if (!active_)
	{
		setTimer(timeout);
	}
	else
	{
		expiry_time_millis_ += timeout;
	}
};

timeout_t TimerMillis::getTimer(void) const
{
	if (!active_) return TIMEOUT_INF;

	uint64_t millis_now;
	if (useWallTime_) millis_now = rosTimeToMillis(ros::WallTime::now());
	else millis_now = rosTimeToMillis(ros::Time::now());

	if (millis_now >= expiry_time_millis_) return 0;

	return (expiry_time_millis_ - millis_now);
};

void TimerMillis::endTimer(void)
{
	active_ = false;
};


} // namespace
